Gantry type fresh chili multi-arm harvesting device

Abstract

The utility model provides a gantry type fresh chili multi-arm harvesting device. The gantry type fresh chili multi-arm harvesting device comprises a control unit, a multi-arm picking device, a gantry type machine body and a walking device. The gantry type machine body comprises machine body supporting columns, a machine body front main beam, a machine body rear main beam, a machine body upper side beam, a machine body middle side beam, a machine body lower side beam and a machine body material box. The fuselage front main beam and the fuselage rear main beam are each provided with two fuselage supporting columns, the fuselage upper side beam, the fuselage middle side beam and the fuselage lower side beam are sequentially arranged between the fuselage front main beam and the fuselage rear main beam from top to bottom, and the two ends of the fuselage upper side beam, the two ends of the fuselage middle side beam and the two ends of the fuselage lower side beam are connected with the fuselage supporting columns respectively; the multi-arm picking devices are arranged on the two sides of the gantry type machine body respectively and installed on the machine body upper side beam and the machine body middle side beam. The machine body material box is mounted on the machine body lower side beam; the walking device is mounted at the lower end of the body strut. According to the pepper harvester, the adaptability to different pepper planting environments is improved, the pepper harvesting efficiency is improved, and pepper damage is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural machinery, in particular to a gantry-type multi-arm harvesting device for fresh peppers. Background Art

[0002] In recent years, with the advancement of agricultural modernization, pepper cultivation, as an important cash crop, has continued to expand. However, traditional manual harvesting is inefficient, labor-intensive, and with rising labor costs, it is no longer sufficient to meet the needs of large-scale cultivation. Therefore, the development of efficient pepper harvesting equipment has become an urgent need for the advancement of agricultural mechanization.

[0003] Most pepper harvesting equipment currently available on the market is general-purpose harvesting machines, designed primarily for crops with larger fruits. These machines are not suitable for peppers, which have smaller and more easily damaged fruits. Furthermore, peppers grow in a complex environment, with varying plant heights and fruit maturity, making harvesting more difficult. Existing equipment can easily cause mechanical damage to peppers during the harvesting process, impacting product quality and even leading to economic losses. Ensuring that peppers have reached the appropriate maturity can usually be determined by color and size. Different varieties of peppers have different colors when ripe. For example, red peppers should be bright red when ripe, while green peppers should be dark green. Picking peppers too early or too late will affect both taste and market value. Traditional machinery cannot determine the maturity of peppers, and the peppers must be sorted after harvesting.

[0004] Currently, pepper picking equipment is generally large-scale and difficult to turn around in the field, and has insufficient battery life. In addition, the packing and sorting of peppers after picking in my country mainly rely on manual labor. Peppers are picked manually and collected in collection boxes. There are generally problems of multiple sorting and long packing and replacement time at the packing port. This harvesting process is labor-intensive and time-consuming, and the harvesting efficiency is low. Summary of the Invention

[0005] The utility model provides a gantry-type fresh pepper multi-arm harvesting device, which solves at least one of the above technical problems. The utility model improves the adaptability to different pepper planting environments, improves the pepper harvesting efficiency, and reduces pepper damage.

[0006] The technical solution adopted by the utility model to solve its technical problems is:

[0007] A gantry-type multi-arm fresh pepper harvesting device, comprising a control unit, a multi-arm picking device, a gantry-type body and a walking device;

[0008] The gantry fuselage includes fuselage pillars, a front main beam of the fuselage, a rear main beam of the fuselage, a side beam of the fuselage, a middle side beam of the fuselage, a lower side beam of the fuselage and a fuselage material box; the front main beam of the fuselage and the rear main beam of the fuselage are respectively installed with two fuselage pillars, and the side beam of the fuselage, the middle side beam of the fuselage and the lower side beam of the fuselage are arranged in sequence from top to bottom between the front main beam of the fuselage and the rear main beam of the fuselage, and the two ends of the side beam of the fuselage, the middle side beam of the fuselage and the lower side beam of the fuselage are respectively connected to the fuselage pillars; multi-arm picking devices are respectively provided on both sides of the gantry fuselage, and the multi-arm picking devices are installed on the side beam of the fuselage and the middle side beam of the fuselage; the fuselage material box is installed on the lower side beam of the fuselage; the walking device is installed at the lower end of the fuselage pillars; the control unit is respectively connected to the multi-arm picking device and the walking device; a top plate is provided above the gantry fuselage, and the control unit is arranged on the top plate.

[0009] In the above solution, the multi-arm picking device includes a linear motor, multiple picking robot arm bases and multiple picking robot arms;

[0010] The upper side beam and the middle side beam of the fuselage are both provided with slide grooves, and the linear motor is installed on the slide grooves of the upper side beam and the middle side beam of the fuselage; the picking robotic arm is located on the inner side of the gantry fuselage, and the picking robotic arm is respectively installed on the picking robotic arm base, and the output shaft of the linear motor is connected to the picking robotic arm base, and the linear motor can drive the picking robotic arm base and the picking robotic arm to move back and forth along the slide groove.

[0011] Furthermore, the multi-arm picking device also includes a box sealing cover; the box sealing cover is connected to the fuselage upper side beam and the fuselage middle side beam of the gantry-type fuselage.

[0012] Furthermore, the picking robot arm includes a picking robot arm base connector, a picking robot rotating arm, a picking robot arm, a picking robot middle arm, a picking robot arm, a picking robot visual camera and a picking robot shearing finger;

[0013] The picking robot arm base connector is installed on the picking robot arm base, and the picking robot arm base connector, picking robot rotating arm, picking robot arm, picking robot middle arm, and picking robot arm are connected in sequence in the form of a rotating hinge. The picking robot rotating arm can rotate 360 ​​degrees around the normal direction on the picking robot arm base connector, the picking robot arm can rotate 270 degrees in the axial direction of the picking robot rotating arm, the picking robot middle arm can rotate 270 degrees in the axial direction of the picking robot arm, and the picking robot arm can rotate 270 degrees in the axial direction of the picking robot arm; the picking robot shearing fingers are installed on the picking robot arm, and the picking robot vision camera is arranged on the inner side of the picking robot shearing fingers; the picking robot shearing fingers are used for picking peppers, and the contact surface between the picking robot shearing fingers and the peppers is provided with a rubber layer; the picking robot shearing fingers can rotate 360 ​​degrees around the normal direction on the picking robot arm; the picking robot vision camera is connected to the control unit.

[0014] In the above solution, the front and rear main beams of the fuselage are both provided with slide grooves, and the upper ends of the fuselage struts are connected to the slide grooves and fixed by bolts.

[0015] In the above solution, the fuselage material box is installed on the lower side beam of the fuselage by snap fastening.

[0016] In the above scheme, the traveling device includes a wheel hub mounting frame, a wheel hub drive motor and a traveling wheel; the wheel hub mounting frame is connected to the lower end of the fuselage support; the wheel hub drive motor is installed below the wheel hub mounting frame, and its output shaft is connected to the traveling wheel; the wheel hub drive motor is connected to the control unit.

[0017] In the above scheme, a forward image acquisition device and a backward image acquisition device are provided on the top plate; the forward image acquisition device and the backward image acquisition device are respectively installed on the front and rear ends of the top plate; the forward image acquisition device and the backward image acquisition device are respectively connected to the control unit.

[0018] In the above solution, the top plate is also provided with a solar panel and an energy supply battery;

[0019] The solar panel is connected to the energy supply battery, and the energy supply battery is respectively connected to the control unit, the multi-arm picking device and the walking device.

[0020] In the above solution, a display screen is further provided on the top plate; the display screen is connected to the control unit.

[0021] Compared with the prior art, the beneficial effects of the present invention are:

[0022] 1. The utility model discloses a gantry-type multi-arm harvesting device for fresh peppers, which improves the adaptability to different pepper planting environments, improves the harvesting efficiency of peppers and reduces pepper damage.

[0023] 2. In one embodiment of the present invention, a gantry-type fuselage is used. The front and rear main beams of the fuselage are both provided with slides. The upper ends of the fuselage pillars are connected to the slides and fixed by bolts. The picking width of the multi-arm picking device can be adjusted by adjusting the distance between the fuselage pillars, which greatly improves the adaptability of the device to different pepper planting environments. At the same time, the linear motor can drive the base of the picking robot arm and the picking robot arm to move back and forth along the slide, which can increase the picking range of the picking robot arm. By setting the picking robot arm and picking speed with different picking ranges, the picking efficiency of peppers with different densities is improved. The picking mechanical shearing fingers are used to pick peppers. The contact surface between the picking mechanical shearing fingers and the peppers is provided with a rubber layer to reduce mechanical damage to the peppers during picking.

[0024] 3. In one embodiment of the present invention, when the multi-arm picking device starts to pick peppers, the walking device can be driven by four independent hub motors, and the four walking wheels can be independently differentially moved, so that turning and U-turning can be achieved in the field. A power supply battery is provided in conjunction with a solar panel, which solves the common problems of current pepper picking equipment, such as large-scale difficulty in turning around in the field and insufficient battery life.

[0025] Note that the description of these effects does not preclude the existence of other effects. One embodiment of the present invention does not necessarily have all of the above effects. Effects other than the above can be clearly seen and extracted from the description of the specification, drawings, claims, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0027] Figure 1 This is a schematic structural diagram of a gantry-type multi-arm fresh pepper harvesting device according to one embodiment of the present invention;

[0028] Figure 2 This is a schematic diagram of the component installation structure on the top plate of a gantry-type fresh pepper multi-arm harvesting device according to one embodiment of the present invention;

[0029] Figure 3 This is a schematic structural diagram of a multi-arm picking device of a gantry-type fresh pepper multi-arm harvesting device according to one embodiment of the present invention;

[0030] Figure 4 This is a schematic diagram of the structure of the harvesting mechanical arm of the gantry-type fresh pepper multi-arm harvesting device according to one embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram of the gantry-type body structure of a gantry-type fresh pepper multi-arm harvesting device according to one embodiment of the present invention;

[0032] Figure 6 It is a schematic structural diagram of the walking device of a gantry-type fresh pepper multi-arm harvesting device according to one embodiment of the present invention.

[0033] In the picture:

[0034] 1-top plate, 101-forward image acquisition device, 102-forward image acquisition device base, 103-display screen, 104-central control center circuit chipset, 105-solar panel, 106-energy battery, 107-rearward image acquisition device, 108-rearward image acquisition device base, 2-multi-arm picking device, 201-sealing cover, 202-linear motor, 203-picking robot arm base, 204-picking robot arm, 204-1-picking robot arm base connector, 204-2-picking robot rotating arm, 204-3- picking machine arm, 204-4- picking machine middle arm, 204-5- picking machine small arm, 204-6- picking machine visual camera, 204-7- picking machine shearing finger, 3- gantry fuselage, 301- fuselage pillar, 302- fuselage front beam, 303- fuselage rear beam, 304- fuselage upper side beam, 305- fuselage middle side beam, 306- fuselage lower side beam, 307- fuselage material box, 4- walking device, 401- wheel hub mounting frame, 402- wheel hub drive motor, 403- walking wheel. DETAILED DESCRIPTION

[0035] The following describes in detail embodiments of the present invention, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention, and should not be construed as limiting the present invention.

[0036] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "front", "back", "left", "right", "up", "down", "axial", "radial", "vertical", "horizontal", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0037] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integral connection; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0038] like Figure 1-6As shown, it is a preferred embodiment of the gantry type fresh pepper multi-arm harvesting device of the utility model, which includes a control unit, a multi-arm picking device 2, a gantry fuselage 3 and a walking device 4; the gantry fuselage 3 includes a fuselage pillar 301, a fuselage front beam 302, a fuselage rear beam 303, a fuselage side beam 304, a fuselage middle side beam 305, a fuselage lower side beam 306 and a fuselage material box 307; the fuselage front beam 302 and the fuselage rear beam 303 are respectively equipped with two fuselage pillars 301, and the fuselage side beam 304, the fuselage middle side beam 305 and the fuselage lower side beam 306 are arranged in sequence from top to bottom on the fuselage front beam 302 and the fuselage The fuselage rear beam 303 and the two ends of the fuselage side beam 304, the fuselage middle side beam 305 and the fuselage lower side beam 306 are respectively connected to the fuselage pillar 301; the two sides of the gantry fuselage 3 are respectively provided with multi-arm picking devices 2, the multi-arm picking devices 2 are installed on the fuselage side beam 304 and the fuselage middle side beam 305, and the picking operation end of the multi-arm picking device 2 is located on the inner side of the gantry fuselage 3; the fuselage material box 307 is installed on the fuselage lower side beam 306; the walking device 4 is installed at the lower end of the fuselage pillar 301; the control unit is respectively connected to the multi-arm picking device 2 and the walking device 4; a top plate 1 is provided above the gantry fuselage 3, and the control unit is arranged on the top plate 1.

[0039] like Figure 3 As shown, the multi-arm picking device 2 includes a linear motor 202, multiple picking robot arm bases 203 and multiple picking robot arms 204; the upper side beam 304 of the fuselage and the middle side beam 305 of the fuselage are provided with slide grooves, and the linear motor 202 is installed on the slide grooves of the upper side beam 304 of the fuselage and the middle side beam 305 of the fuselage; the picking robot arms 204 are located on the inner side of the gantry fuselage 3, and the picking robot arms 204 are respectively installed on the picking robot arm bases 203, and the output shaft of the linear motor 202 is connected to the picking robot arm base 203 with bolts. The linear motor 202 can drive the picking robot arm base 203 and the picking robot arm 204 to move back and forth along the slide groove, thereby adjusting the picking range of the picking robot arm 204 and improving the picking quality of the picking robot arm 204.

[0040] The multi-arm picking device 2 further includes a sealing cover 201 ; the sealing cover 201 is connected to the fuselage upper side beam 304 and the fuselage middle side beam 305 of the gantry fuselage 3 by bolts to encapsulate the entire multi-arm picking device 2 .

[0041] like Figure 4As shown, the picking robot arm 204 includes a picking robot arm base connector 204-1, a picking robot rotating arm 204-2, a picking robot arm 204-3, a picking robot middle arm 204-4, a picking robot arm 204-5, a picking robot vision camera 204-6 and a picking robot shearing finger 204-7; the picking robot arm base connector 204-1 is installed on the picking robot arm base 203 and is connected with bolts; the picking robot arm base connector 204-1, the picking robot rotating arm 204-2, the picking robot arm 204-3, the picking robot middle arm 204-4 and the picking robot arm 204-5 are connected in sequence in the form of a rotatable hinge, the picking robot rotating arm 204-2 can rotate 360 ​​degrees around the normal direction on the picking robot arm base connector 204-1, and the picking robot arm 204-3 can rotate in the axial direction of the picking robot rotating arm 204-2. 270-degree rotation, the picking machine middle arm 204-4 can rotate 270 degrees in the axial direction of the picking machine arm 204-3, and the picking machine arm 204-5 can rotate 270 degrees in the axial direction of the picking machine middle arm 204-4; the picking machine shearing finger 204-7 is installed on the picking machine arm 204-5, and the picking machine vision camera 204-6 is arranged on the inner side of the picking machine shearing finger 204-7; the picking machine shearing finger 204-7 is used for picking peppers, and the contact surface between the picking machine shearing finger 204-7 and the pepper is provided with a rubber layer to reduce mechanical damage to the pepper during picking; the picking machine shearing finger 204-7 can rotate 360 ​​degrees around the normal direction of the picking machine arm 204-5; the two ends are connected as a 360-degree rotation structure, and the middle connection structure is an axial rotation, which realizes multi-degree-of-freedom work in spatial coordinates and can realize the picking of peppers under different spatial coordinates. The harvesting machine vision camera 204-6 is connected to the control unit and is used to capture images of the peppers and transmit them to the control unit. The harvesting machine vision camera 204-6 moves in conjunction with the harvesting machine's arm 204-5, eliminating the need for the harvesting machine vision camera 204-6 to adapt to the movement of the harvesting machine's shearing fingers 204-7, thereby improving harvest quality. The harvesting machine vision camera 204-6 transmits the captured pepper images to the central circuit chipset 104 in the control unit. The central circuit chipset 104 performs color processing on the captured pepper images to determine whether the peppers are red or green. The chipset then sorts the two colors and places them into separate machine body bins 307.

[0042] The front main beam 302 and the rear main beam 303 of the fuselage are both provided with slide grooves, and the upper ends of the fuselage struts 301 are connected to the slide grooves and fixed by bolts. The picking width of the multi-arm picking device 2 can be adjusted by adjusting the distance between the fuselage struts 301.

[0043] The picking position of the multi-arm picking device 2 is adjusted by the linear motor 202, and the picking width of the multi-arm picking device 2 can be adjusted by adjusting the distance between the fuselage pillars 301, which can improve the adjustable assembly of the picking equipment for peppers under different planting environments and processes, greatly improving the picking application range of the equipment. Figure 5 As shown, the fuselage material box 307 is mounted on the fuselage lower side beam 306 by snap fasteners, and can be quickly and conveniently installed on the fuselage lower side beam 306.

[0044] Preferably, the number of peppers picked by the multi-arm picking device 2 is fed back to the central circuit chipset 104 in the control unit. When the number of peppers picked by the multi-arm picking device 2 reaches a preset threshold, it is determined that the body material box 307 is full. The central circuit chipset 104 can feed back the full information to the cloud app to notify the staff to pour out the peppers in the body material box 307.

[0045] like Figure 6 As shown, the walking device 4 includes a hub mounting frame 401, a hub drive motor 402 and a walking wheel 403; the hub mounting frame 401 has a built-in bolt structure connected to the lower end of the fuselage support 301; the hub drive motor 402 is installed below the hub mounting frame 401 with a bolt structure, and its output shaft is connected to the walking wheel 403; the hub drive motor 402 is connected to the central circuit chipset 104 in the control unit. Preferably, the central circuit chipset 104 can set different differential speeds or reverse rotation for the four hub drive motors 402, so as to realize the U-turn, steering and other functions of the picking equipment in the field, thereby reducing the difficulty of steering and U-turning of the picking equipment in the field.

[0046] like Figure 2 As shown, a forward image acquisition device 101 and a backward image acquisition device 107 are provided on the top plate 1; the forward image acquisition device 101 is mounted on the top plate 1 via a forward image acquisition device base 102, and the backward image acquisition device 107 is mounted on the top plate 1 via a backward image acquisition device base 108; the forward image acquisition device 101 and the backward image acquisition device 107 are respectively connected to a control unit.

[0047] The walking device 4 can move forward and backward. The forward image acquisition device 101 and the backward image acquisition device 107 can respectively capture images of the field conditions in front of and behind the multi-arm picking device and transmit them to the control unit, which is beneficial for the control unit to analyze the front and rear field conditions. When encountering situations such as people approaching, the control unit can promptly control the walking device to stop moving. The utility model is equipped with field working condition image acquisition devices at the front and back, which improves the safe operation of the entire equipment. At the same time, the multi-arm picking device on the equipment is equipped with a picking machine vision camera 204-6 at the end of each picking robot arm, and the picking machine vision camera 204-6 can move with the movement of the robot arm, solving the problem of existing pepper visual acquisition, which requires the camera to constantly change the viewing angle.

[0048] Preferably, the control unit is provided with a central control center circuit chipset 104, which can be equipped with a built-in 5G networking module, and can collect field working conditions from the front image acquisition device 101 and the rear image acquisition device 107, as well as the multi-arm picking device 2 on the picking equipment and the working information of the walking device 4 and feed them back to the cloud app to realize online monitoring of the device.

[0049] like Figure 2 As shown, a solar panel 105 and an energy supply battery 106 are also provided on the top plate 1; the solar panel 105 and the energy supply battery 106 are connected, and the energy supply battery 106 is respectively connected to the control unit, the multi-arm picking device 2 and the walking device 4; the energy supply battery 106 can be charged by a power supply, and the solar panel 105 can also continuously supply energy to the energy supply battery 106 during operation, which greatly improves the endurance of the picking equipment.

[0050] like Figure 2 As shown, a display screen 103 is further provided on the top plate 1; the display screen 103 is connected to the control unit.

[0051] In a specific embodiment of the present invention, the forward image acquisition device 101, the display screen 103, the solar panel 105, the energy supply battery 106, and the rearward image acquisition device 107 are respectively connected to the central control center circuit chip group 104 of the control unit; the forward image acquisition device 101 is installed on the forward image acquisition device base 102, and the forward image acquisition device base 102 is installed in front of the fuselage 3, and the rearward image acquisition device 107 is installed on the rearward image acquisition device base 108. The walking device 4 can move forward and backward. The forward image acquisition device 101 and the rearward image acquisition device 107 can both collect the field conditions in front and transmit them to the central control center circuit chip group 104; the solar panel 105 is provided with a circuit connection with the energy supply battery 106, and the solar panel 105 can charge the energy supply battery 106; the energy supply battery 106 can provide energy for the control unit, the multi-arm picking device 2, and the walking device 4.

[0052] This utility model enables visually-based mechanical harvesting of peppers. The travel device 4 is driven by four independent hub motors 402, enabling independent differential travel on the four travel wheels, enabling turning and reversing in the field. The gantry-style frame 3 employs a chute structure, significantly improving the device's adaptability to diverse pepper growing environments. A visual camera identifies and locates the pepper's color, transmitting this information to a control unit. The control unit controls the multi-arm harvesting device 204 based on this visual information, harvesting the located peppers and placing them into different frame bins 307 according to their color. When the peppers are full, the control unit sends a message to the app client, prompting the operator to empty the frame bins 307 and resume operation. This harvesting equipment is powered by a rechargeable battery 106 and equipped with a solar panel 105, enabling the overall harvesting equipment's functionality and extending its battery life. This utility model improves pepper harvesting efficiency and reduces labor and time costs associated with harvesting.

[0053] The series of detailed descriptions listed above are only specific descriptions of feasible embodiments of the present invention. They are not intended to limit the scope of protection of the present invention. Any equivalent embodiments or changes that do not deviate from the technical spirit of the present invention should be included in the scope of protection of the present invention.

Claims

1. A gantry-type multi-arm harvesting device for fresh peppers, characterized in that: It includes a control unit, a multi-arm picking device (2), a gantry-type machine body (3) and a walking device (4); The gantry fuselage (3) comprises a fuselage support (301), a fuselage front main beam (302), a fuselage rear main beam (303), a fuselage upper side beam (304), a fuselage middle side beam (305), a fuselage lower side beam (306) and a fuselage material box (307); the fuselage front main beam (302) and the fuselage rear main beam (303) are respectively installed with two fuselage support columns (301), the fuselage upper side beam (304), the fuselage middle side beam (305) and the fuselage lower side beam (306) are arranged in sequence from top to bottom between the fuselage front main beam (302) and the fuselage rear main beam (303), and the fuselage upper side beam (304), the fuselage middle side beam (305) and the fuselage lower side beam (306) are arranged in sequence from top to bottom between the fuselage (305) and the two ends of the fuselage lower side beam (306) are respectively connected to the fuselage pillar (301); the two sides of the gantry fuselage (3) are respectively provided with a multi-arm picking device (2), and the multi-arm picking device (2) is installed on the fuselage upper side beam (304) and the fuselage middle side beam (305); the fuselage material box (307) is installed on the fuselage lower side beam (306); the walking device (4) is installed at the lower end of the fuselage pillar (301); the control unit is respectively connected to the multi-arm picking device (2) and the walking device (4); a top plate (1) is provided above the gantry fuselage (3), and the control unit is arranged on the top plate (1).

2. The gantry-type fresh pepper multi-arm harvesting device according to claim 1, characterized in that: The multi-arm picking device (2) comprises a linear motor (202), a plurality of picking mechanical arm bases (203), and a plurality of picking mechanical arms (204); The upper side beam (304) and the middle side beam (305) of the fuselage are both provided with slide grooves, and the linear motor (202) is installed on the slide grooves of the upper side beam (304) and the middle side beam (305) of the fuselage; the picking mechanical arm (204) is located on the inner side of the gantry-type fuselage (3), and the picking mechanical arm (204) is respectively installed on the picking mechanical arm base (203); the output shaft of the linear motor (202) is connected to the picking mechanical arm base (203), and the linear motor (202) can drive the picking mechanical arm base (203) and the picking mechanical arm (204) to move forward and backward along the slide groove.

3. The gantry-type multi-arm fresh pepper harvesting device according to claim 2, characterized in that: The multi-arm picking device (2) further comprises a box sealing cover (201); the box sealing cover (201) is connected to the fuselage upper side beam (304) and the fuselage middle side beam (305) of the gantry-type fuselage (3).

4. The gantry-type multi-arm fresh pepper harvesting device according to claim 2, characterized in that: The picking mechanical arm (204) comprises a picking mechanical arm base connector (204-1), a picking mechanical rotating arm (204-2), a picking mechanical arm (204-3), a picking mechanical middle arm (204-4), a picking mechanical arm (204-5), a picking mechanical visual camera (204-6), and a picking mechanical shearing finger (204-7); The picking robot arm base connector (204-1) is installed on the picking robot arm base (203); the picking robot arm base connector (204-1), the picking robot rotating arm (204-2), the picking robot arm (204-3), the picking robot middle arm (204-4), and the picking robot small arm (204-5) are sequentially connected in the form of a rotating hinge; the picking robot rotating arm (204-2) can rotate 360 ​​degrees around the normal direction on the picking robot arm base connector (204-1); the picking robot arm (204-3) can rotate 270 degrees in the axial direction of the picking robot rotating arm (204-2); the picking robot middle arm (204-4) can rotate 270 degrees in the axial direction of the picking robot arm (204-3); ) can rotate 270 degrees in the axial direction, and the picking machine arm (204-5) can rotate 270 degrees in the axial direction of the picking machine middle arm (204-4); the picking machine shearing finger (204-7) is installed on the picking machine arm (204-5), and the picking machine visual camera (204-6) is arranged on the inner side of the picking machine shearing finger (204-7); the picking machine shearing finger (204-7) is used for picking peppers, and the contact surface between the picking machine shearing finger (204-7) and the pepper is provided with a rubber layer; the picking machine shearing finger (204-7) can rotate 360 ​​degrees around the normal direction on the picking machine arm (204-5); the picking machine visual camera (204-6) is connected to the control unit.

5. The gantry-type multi-arm fresh pepper harvesting device according to claim 1, characterized in that: The front main beam (302) and the rear main beam (303) of the fuselage are both provided with slide grooves, and the upper ends of the fuselage struts (301) are connected to the slide grooves and fixed by bolts.

6. The gantry-type fresh pepper multi-arm harvesting device according to claim 1, characterized in that: The fuselage material box (307) is mounted on the fuselage lower side beam (306) by snap fastening.

7. The gantry-type multi-arm fresh pepper harvesting device according to claim 1, characterized in that: The walking device (4) comprises a hub mounting frame (401), a hub drive motor (402) and a walking wheel (403); the hub mounting frame (401) is connected to the lower end of the fuselage support (301); the hub drive motor (402) is mounted below the hub mounting frame (401), and its output shaft is connected to the walking wheel (403); the hub drive motor (402) is connected to a control unit.

8. The gantry-type multi-arm fresh pepper harvesting device according to claim 1, characterized in that: A forward image acquisition device (101) and a backward image acquisition device (107) are provided on the top plate (1); the forward image acquisition device (101) and the backward image acquisition device (107) are respectively mounted on the front and rear ends of the top plate (1); and the forward image acquisition device (101) and the backward image acquisition device (107) are respectively connected to a control unit.

9. The gantry-type multi-arm fresh pepper harvesting device according to claim 1, characterized in that: The top plate (1) is also provided with a solar panel (105) and an energy supply battery (106); The solar panel (105) is connected to the energy supply battery (106), and the energy supply battery (106) is respectively connected to the control unit, the multi-arm picking device (2) and the walking device (4).

10. The gantry-type multi-arm fresh pepper harvesting device according to claim 1, characterized in that: A display screen (103) is also provided on the top plate (1); the display screen (103) is connected to the control unit.

Images